equal
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40 |
40 |
41 #include "data.h" |
41 #include "data.h" |
42 |
42 |
43 |
43 |
44 |
44 |
45 /** |
45 /* |
46 Print MSG_WAR (s) if error to the access to the object dictionary occurs. |
46 Print MSG_WAR (s) if error to the access to the object dictionary occurs. |
47 You must uncomment the lines*/ |
47 You must uncomment the lines |
48 //#define DEBUG_CAN |
48 //#define DEBUG_CAN |
49 //#define DEBUG_WAR_CONSOLE_ON |
49 //#define DEBUG_WAR_CONSOLE_ON |
50 //#define DEBUG_ERR_CONSOLE_ON |
50 //#define DEBUG_ERR_CONSOLE_ON |
51 /*in the file objaccess.c |
51 in the file objaccess.c |
52 sizeDataDict : Size of the data defined in the dictionary |
52 sizeDataDict : Size of the data defined in the dictionary |
53 sizeDataGiven : Size data given by the user. |
53 sizeDataGiven : Size data given by the user. |
54 code : error code to print. (SDO abort code. See file def.h) |
54 code : error code to print. (SDO abort code. See file def.h) |
55 Beware that sometimes, we force the sizeDataDict or sizeDataGiven to 0, when we wants to use |
55 Beware that sometimes, we force the sizeDataDict or sizeDataGiven to 0, when we wants to use |
56 this function but we do not have the access to the right value. One example is |
56 this function but we do not have the access to the right value. One example is |
58 */ |
58 */ |
59 #ifdef DEBUG_WAR_CONSOLE_ON |
59 #ifdef DEBUG_WAR_CONSOLE_ON |
60 UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex, |
60 UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex, |
61 UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code); |
61 UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code); |
62 #else |
62 #else |
63 #define accessDictionaryError(...) |
63 /*#define accessDictionaryError(...) */ |
64 #endif |
64 #endif |
65 |
65 |
66 /** Reads an entry from the object dictionary.\n |
66 /* Reads an entry from the object dictionary.\n |
67 * \code |
67 * \code |
68 * // Example usage: |
68 * // Example usage: |
69 * UNS8 *pbData; |
69 * UNS8 *pbData; |
70 * UNS8 length; |
70 * UNS8 length; |
71 * UNS32 returnValue; |
71 * UNS32 returnValue; |
99 UNS8 * pExpectedSize, |
99 UNS8 * pExpectedSize, |
100 UNS8 * pDataType, |
100 UNS8 * pDataType, |
101 UNS8 checkAccess); |
101 UNS8 checkAccess); |
102 |
102 |
103 |
103 |
104 /** By this function you can write an entry into the object dictionary\n |
104 /* By this function you can write an entry into the object dictionary\n |
105 * \code |
105 * \code |
106 * // Example usage: |
106 * // Example usage: |
107 * UNS8 B; |
107 * UNS8 B; |
108 * B = 0xFF; // set transmission type |
108 * B = 0xFF; // set transmission type |
109 * |
109 * |
127 void * pSourceData, |
127 void * pSourceData, |
128 UNS8 * pExpectedSize, |
128 UNS8 * pExpectedSize, |
129 UNS8 checkAccess); |
129 UNS8 checkAccess); |
130 |
130 |
131 |
131 |
132 /** Scan the index of object dictionary. Used only by setODentry and getODentry. |
132 /* Scan the index of object dictionary. Used only by setODentry and getODentry. |
133 * *errorCode : OD_SUCCESSFUL if index foundor SDO abort code. (See file def.h) |
133 * *errorCode : OD_SUCCESSFUL if index foundor SDO abort code. (See file def.h) |
134 * Return NULL if index not found. Else : return the table part of the object dictionary. |
134 * Return NULL if index not found. Else : return the table part of the object dictionary. |
135 */ |
135 */ |
136 const indextable * scanIndexOD (CO_Data* d, UNS16 wIndex, UNS32 *errorCode, ODCallback_t **Callback); |
136 const indextable * scanIndexOD (CO_Data* d, UNS16 wIndex, UNS32 *errorCode, ODCallback_t **Callback); |
137 |
137 |
138 UNS32 RegisterSetODentryCallBack(CO_Data* d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback); |
138 UNS32 RegisterSetODentryCallBack(CO_Data* d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback); |
139 |
139 |
140 #endif // __objacces_h__ |
140 #endif /* __objacces_h__ */ |